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Copyright P. Kundur
This material should not be used without the author's consent
1539pk
Synchronous Machines
Outline
1. Physical Description
2. Mathematical Model
3. Park's "dqo" transportation
4. Steady-state Analysis
phasor representation in d-q coordinates
link with network equations
5. Definition of "rotor angle"
6. Representation of Synchronous Machines in
Stability Studies
neglect of stator transients
magnetic saturation
7. Simplified Models
8. Synchronous Machine Parameters
9. Reactive Capability Limits
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Physical Description of a
Synchronous Machine
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Rotors of Steam Turbine Generators
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Rotors of Hydraulic Units
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Balanced Steady State Operation
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Balanced Steady State Operation
2 2
MMFb Kib cos ib Im cos s t
3 3
2 2
MMFc Kic cos ia lm cos s t
3 3
3
KIm cos s t
2
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Balanced Steady State Operation
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Transient Operation
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Direct and Quadrature Axes
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Mathematical Descriptions of a
Synchronous Machine
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Review of Magnetic Circuit Equations
(Single Excited Circuit)
2 L 21i1 L 22i2
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Basic Equations of a Synchronous Machine
L aa 0 L aa 2 cos 2
2
Iab Iba L ab0 L ab 2 cos 2
3
L ab 0 L ab 2 cos 2
3
Iakq L akq cos L akq sin
2
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Basic Equations of a Synchronous Machine
da
ea R aia pa R aia
dt
a laaia labib lacic lafdifd lakdikd lakqikq
Rotor circuit voltage and flux linkage equations
e fd pfd R fdifd
0 pkd R kdikd
0 pkq R kqikq
fd L ffdifd L fkdikd
2 2
L afd ia cos ib cos ic cos
3 3
kd L fkdifd Lkkdikd
2 2
L afd ia cos ib cos ic cos
3 3
kq Lkkdikq
2 2
L akq ia sin ib sin ic sin
3 3
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The dqo Transformation
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Physical Interpretation of dqo
Transformation
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Per Unit Representation
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P.U. Machine Equations in
dqo reference frame
e q p q dr R aiq
e 0 p 0 R a i 0
0 p 1d R 1di1d
0 p 1q R 1qi1q
0 p 2q R 2qi2q
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P.U. Machine Equations in dqo Reference
Frame (cont'd)
0 L0 i0
1q L aqi1q L 22 qL 2q L aqiq
Air-gap torque
T e diq qid
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Steady State Analysis Phasor
Representation
eb Em cos t 2 3
e c Em cos t 2 3
with
= angular velocity = 2f
= phase angle of ea at t=0
e d Em cos t
e q Em sin t
e q Em sin 0
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Steady State Analysis Phasor
Representation (cont'd)
e q E t sin 0
e q E t cos i
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Steady State Analysis Phasor
Representation (cont'd)
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Internal Rotor Angle
q L qiq 0
d L adifd
ed 0
e q L adifd
~
and E t e d jeq jL adifd
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Short Circuit Currents of a Synchronous
Machine
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Short Circuit Currents of a Synchronous
Machine (cont'd)
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Elimination of dc Component by
Neglecting Stator Transients
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Short Circuit Currents with Stator Transients
Neglected
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Synchronous Machine Representation in
System Stability Studies
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Equation of Motion (Swing Equation)
dm
J Ta Tm Te
dt
where
t = time in seconds
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Equation of Motion (cont'd)
d r
2H Tm Te
dt
where
m
r = per unit rotor angular velocity
0m
Tm0m
Tm = per unit mechanical torque
VA base
Te 0m
Te = per unit electromechanical torque
VA base
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Magnetic Saturation
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Assumptions Normally Made in the
Representation of Saturation
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The effects of saturation is represented as
I at 0 at (3.186)
at (3.187)
K sd
at I
For the nonlinear segment of OCC, I can be
expressed by a suitable mathematical function:
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Open-Circuit Characteristic (OCC)
E t e q d L adifd
Hence, OCC relating to terminal voltage and field
current gives saturation characteristic of the d-axis
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For salient pole machines, since q-axis flux is
largely in air, Laq does not vary significantly with
saturation
Ksq=1 for all loading conditions
For round rotor machines, there is saturation in
both axes
q-axis saturation characteristic not usually
available
the general industry practice is to assume
Ksq = Ksd
For a more accurate representation, it may be
desirable to better account for q-axis saturation of
round rotor machines
q-axis saturates appreciably more than the d-
axis, due to the presence of rotor teeth in the
magnetic path
Figure 3.32 shows the errors introduced by
assuming q-axis saturation to be same as that of d-
axis, based on actual measurements on a 500 MW
unit at Lambton GS in Ontario
Figure shows differences between measured
and computed values of rotor angle and field
current
the error in rotor angle is as high as 10%, being
higher in the underexcited region
the error in the field current is as high as 4%,
being greater in the overexcited region
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The q-axis saturation characteristic is not readily
available
It can, however, be fairly easily determined from
steady-state measurements of field current and
rotor angle at different values of terminal voltage,
active and reactive power output
Such measurements also provide d-axis
saturation characteristics under load
Figure 3.33 shows the d- and q-axis saturation
characteristics derived from steady-state
measurements on the 500 MW Lambton unit
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Example 3.3
Considers the 555 MVA unit at Lambton GS and
examines
the effect of representing q-axis saturation
characteristic distinct from that of d-axis
the effect of reactive power output on rotor angle
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Simplified Models for Synchronous
Machines
Neglect of Amortisseurs
first order of simplification
data often not readily available
Steady-state Model
constant field current
neglect saliency (xd = xq = xs)
Et
xs Eq = Xadifd
Eq
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Reactive Capability Limits of Synchronous
Machines
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Armature Current Limit
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Field Current Limit
Therefore
X ad
P E tlt cos E tifd sin i
Xs
X E2
Q E tlt sin ad E tifd cos i t
Xs Xs
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Field Current Limit
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End Region Heating Limit
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Reactive Capability Limit of a 400 MVA
Hydrogen Cooled Steam Turbine Generator
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